On the Frontiers of Mobile Manipulation: the Challenge of Autonomous Underwater Intervention

Autonomous manipulation of unknown objects by a robot is a highly challenging skill that is receiving increasing attention in the last years. This problem becomes still more challenging (and less explored) in underwater environments, with highly unstructured scenarios, limited availability of sensors and, in general, adverse conditions that affect in different degree the robot perception and control systems. The FP7 TRIDENT project proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology, oceanography and offshore industries, and goes beyond present-day methods typically based on manned and / or purpose-built systems. In this paper an overview concerning the main research ongoing under this project will be presented and discussed, focusing on the underwater manipulation issues.